MRSAM: a Quadratically Competitive Multi-robot Online Navigation Algorithm. - Shahar Sarid; Amir Shapiro; Yoav Gabriely (ICRA, 2006)

MRBUG: A Competitive Multi-Robot Path Finding Algorithm. - Shahar Sarid; Amir Shapiro; Yoav Gabriely (ICRA, 2007)

Classifying the multi robot path finding problem into a quadratic competitive complexity class. - Shahar Sarid; Amir Shapiro (Ann. Math. Artif. Intell., 2008)

A time competitive heterogeneous multi robot path finding algorithm. - Shahar Sarid; Amir Shapiro (IROS, 2010)

Classifying the Heterogeneous Multi-Robot online search problem into quadratic time competitive complexity class. - Shahar Sarid; Amir Shapiro; Elon Rimon; Yael Edan (ICRA, 2011)

Guaranteeing High-Level Behaviors while Exploring Partially Known Maps. - Shahar Sarid; Bingxin Xu; Hadas Kress-Gazit (Robotics: Science and Systems, 2012)